Fixes to CMake library management config generation

[boxanm]

This commit contains the following changes:

1. Fix the issue when libnabo is not linked properly and executables using libpointmatcher are not built (see Building error new release #526). Tested on both the HEAD and 1.0.7 of libnabo.
2. Set the supported version of yaml-cpp on MacOS to 0.7.0 and edit the documentation accordingly.
3. Modify CMakeLists.txt to make use of the CMakePackageConfigHelpers